CN105666468A - Large-swing angle gantry type five-axis linkage serial-parallel machine tool - Google Patents
Large-swing angle gantry type five-axis linkage serial-parallel machine tool Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention belongs to the technical field of machine manufacturing and particularly relates to a large-swing angle gantry type five-axis linkage serial-parallel machine tool. The large-swing angle gantry type five-axis linkage serial-parallel machine tool overcomes the shortcomings that the swing angles of tools of traditional numerically-controlled machine tools and existing parallel/serial-parallel machine tools are limited and the flexibility is poor and the rigidity and the accuracy are low in the process of machining thin and long integral structural parts. The large-swing angle gantry type five-axis linkage serial-parallel machine tool comprises a long and straight guide rail and a parallel machining module; the parallel machining module forms a spatial parallel closed loop mechanism; the parallel machining module realizes two-dimensional movement of a mobile platform in the XZ plane and two-dimensional rotation of a rotation shaft in the plane of the mobile platform through four input drive, input drive enabling the parallel machining module to slide in the Y axis direction is added in the Y axis direction of the parallel machining module, and therefore the mobile platform of the parallel machining module can realize five-axis linkage movement. The large-swing angle gantry type five-axis linkage serial-parallel machine tool has the advantages that the structure is simple, the work space is large, the flexibility of the mobile platform is good, the rigidity and the accuracy are high, the change of drive loads in the Y axis direction is small, the dynamic property is good, the reconfigurability is high and the modularization degree is high.
Description
Technical field
The invention belongs to machinery manufacturing technology field, be specifically related to a kind of big swing angle planer-type five-axle linkage series-parallel machine tool, be a kind of can be applied to digital control processing field realize the elongated precision machined multi-axis linkages of integral structure component big swing angle.
Background technology
Parallel institution is the close loop mechanism being made up of multiple side chains, has the advantage that parallel machine is equipped as a kind of manufacture being basic machine with parallel institution relative to traditional serial mechanism, comes across the end of the nineties in last century. Along with deepening continuously and the development of Numeric Control Technology, automatic technology and computer technology of parallel institution theoretical research, parallel machine is increasingly becoming a kind of important novel manufacture equipment and is applied in modern manufacturing industry. Parallel machine, compared with conventional serial lathe, has higher stiffness/weight ratio, faster response speed, higher machining accuracy. Thus the processing being more suitable under high speed, precision, case of heavy load. And its degree of modularity is high, easily reconstruct, flexible, thus being easier to reduce processing cost. But parallel machine also exists such shortcomings such as relative work space is little, the range of work is limited, thus limiting its application. In view of the duality relation of parallel institution Yu serial mechanism face in configuration, it is thought that parallel institution and serial mechanism are combined, thus propose the configuration of hybrid mechanism, and hybrid mechanism is produced New-type mixed-coupled lathe as the basic machine of Digit Control Machine Tool. Series-parallel machine tool integrates also, the advantage of serial machine tool, turn avoid also, the respective shortcoming of serial configured simultaneously, more practicality in modern manufacturing industry. Just because of this, this kind of get the attention and study based on parallel institution or containing the five-axle linkage series-parallel connection machining center of parallel module, and progressively become at a high speed, in high precision, the development trend of high flexibility ratio Digit Control Machine Tool.
In recent years, the elongated class integral structure component in the fields such as Aero-Space, railway transportation, defence and military it is applied to such as: the global design principle of the fuselage of aircraft, wing, rib, railway carriage etc. increasingly receives attention. The basic conception of global design is, by metal removal from one piece of integral workblank, thus obtaining the integral structure component of superior performance. Its advantage is not only the cycle and logistics chain that shorten process and assemble, also mitigates the weight of structural member simultaneously. This elongated class integral structure component mostly part clearance is high, and complex-shaped, porous, wall thickness are thin. The Digit Control Machine Tool of five-axle linkage must be used to complete this complicated processing, and machine tool capability is required higher. Owing to traditional numeric-control machine exists drawback in complicated elongated integral structure component processing, finding new and effective machining tool becomes a urgent task. In view of series-parallel machine tool also exists the advantage being applicable to high speed, processing high-precision, heavily loaded, Development of Novel series-parallel machine tool will become a kind of effective solution.
In " high-grade, digitally controlled machine tools with basis manufacture equipment " science and technology key special subjects come into effect at the beginning of 2009, using parallel institution function accessories and be equipped with the 5-axis machining center of this type of functional part as one of problem therein. Visible, parallel module is the key of these type of equipment research and development. Angle from processing flexibility ratio and working (machining) efficiency, parallel module should possess significantly high rotation flexibility ratio, 90 ° are reached for best (to realizing vertical sleeping conversion, five processing) with moving platform turning power, and the limitation place of this conventional parallel mechanism exactly, the turning power of SprintZ3 parallel main shaft head with strongest influence power is also only 40 ° (can not realize proper five processing). Visible, breaking through conventional parallel mechanism pivot angle limited under the premise ensureing high rigidity is the bottleneck problem urgently broken through in the R&D process of this type of equipment.
The present invention is directed to traditional numeric-control machine and existing parallel/hybrid lathe processing the drawback existed in elongated class integral structure component, it is proposed to a kind of be aided with long straight guide with modularity four-freedom parallel mechanism for main body and realize the series-parallel configuration machine tool of five-axle linkage processing. This machine tool applications has simple in construction in the processing of elongated class integral structure component, work space is big, moving platform motility is good, rigidity precision is high, Y direction driving load change is little, dynamic property good, reconfigurability is strong and degree of modularity advantages of higher. It is capable of the five-axle linkage to complicated elongated integral structure component to process.
Summary of the invention
The invention belongs to machinery manufacturing technology field, it is specifically related to a kind of big swing angle planer-type five-axle linkage series-parallel machine tool, solves traditional numeric-control machine and the drawback such as existing parallel/hybrid machine tool pivot angle is limited, the very flexible, rigidity and the precision that exist in processing elongated class integral structure component are low.
The present invention adopts the following technical scheme that realization:
A kind of big swing angle planer-type five-axle linkage series-parallel machine tool, including: long straight guide, processing module in parallel, fixture and the workbench arranged along Y direction; Described processing module in parallel includes basic platform, moving platform, cutter and connects the first side chain between basic platform and moving platform, the second side chain, and each several part forms a Spatial Parallel close loop mechanism; Described processing module in parallel is driven by four inputs and realizes moving platform bidimensional in XZ plane and move and bidimensional in moving platform rotating shaft plane thereon rotates, processing module in parallel is arranged on along the long straight guide of Y direction setting, and it is added with an input driving making processing module in parallel slide along Y direction in Y direction, make the moving platform of processing module in parallel realize five-axle linkage campaign.
First side chain of described processing module in parallel is (3-RPR)-R type series parallel movement side chain, P represents moving sets, R represents revolute pair, first side chain includes plane-parallel type close loop mechanism 3-RPR, plane-parallel type close loop mechanism 3-RPR includes: basic platform, upper connecting rod I, lower link I, upper connecting rod II, lower link II, upper connecting rod III, lower link III, connecting platform and each kinematic pair, described kinematic pair includes: connect the revolute pair R between basic platform and upper connecting rod I, moving sets P between connecting rod I and lower link I in connection, connect the revolute pair R between lower link I and connecting platform, connect the revolute pair R between basic platform and upper connecting rod II, moving sets P between connecting rod II and lower link II in connection, connect the revolute pair R between lower link II and connecting platform, connect the revolute pair R between basic platform and upper connecting rod III, moving sets P between connecting rod III and lower link III in connection, connect the revolute pair R between lower link III and connecting platform, first side chain also includes the revolute pair R between connecting platform and moving platform, the axis of all revolute pair R of plane-parallel type close loop mechanism be parallel to each other and and connecting platform and moving platform between the axis of revolute pair R be mutually perpendicular to, wherein connect upper moving sets P between connecting rod I with lower link I, the moving sets P being connected between connecting rod II with lower link II, the moving sets P that is connected between connecting rod III and lower link III input actuation movement pair, and plane-parallel type close loop mechanism realizes connecting platform and moves and the connecting platform axis one-dimensional rotation along Y direction at the bidimensional of XZ plane.
Second side chain of described processing module in parallel is RRPS type movement branched chain, S represents ball pivot, second side chain includes: upper connecting rod IV, link, lower link IV and each kinematic pair, and described kinematic pair includes: connects revolute pair R, the revolute pair R being connected between link with upper connecting rod IV, the moving sets P being connected between connecting rod IV with lower link IV between basic platform and link and is connected the typed ball bearing pair S between lower link IV and moving platform; In connection, the moving sets P between connecting rod IV and lower link IV is that input actuation movement is secondary, connecting the revolute pair R between basic platform and link and the revolute pair R axis being connected between link and upper connecting rod IV is mutually perpendicular to, two revolute pair R can use Hooke's hinge U to replace.
The second described side chain connects the axis coaxle of the revolute pair R being connected between basic platform and upper connecting rod II in the axis of the revolute pair R between basic platform and link and the first side chain.
Described is connected on long straight guide by the moving sets P between basic platform with long straight guide by processing module in parallel, and this moving sets P is that input actuation movement is secondary, it is achieved that the Y-axis of processing module in parallel moves.
In described processing module in parallel first side chain, the revolute pair R center between basic platform and upper connecting rod I is unequal to the distance at the revolute pair R center between basic platform and upper connecting rod II to the revolute pair R center between the distance and basic platform and upper connecting rod III at the revolute pair R center between basic platform and upper connecting rod II.
Known by inference with the relation moved by theory of mechanisms constraint: in processing module in parallel, moving platform also exists, relative to basic platform, the structural constraint moved along Y direction therefore can not realize moving platform relative to the basic platform movement along Y-axis, moving platform exists along the constraint couple being parallel to tool axis direction, therefore can not realize along the rotation being parallel to tool axis direction. moving platform along the turning power of the first side chain and the hinged rotating shaft of moving platform up to 115 ° (25 °～90 °), edge is parallel to the turning power of Y direction up to 100 ° (-50 ° ~ 50 °), solve the problem that parallel institution pivot angle is limited, processing module in parallel is arranged on along the long straight guide of Y direction, and make processing module in parallel slidably input driving along Y direction Y direction interpolation one, moving on a large scale of processing module Y direction in parallel can be realized, solve the problem that conventional parallel mechanism work space is little, thus realizing the moving platform big swing angle five-axle linkage campaign on a large scale of processing module in parallel.
The present invention combines the advantage of conventional serial lathe and parallel machine, has simple in construction, work space is big, moving platform motility is good, rigidity precision is high, Y direction drives that load change is little, dynamic property good, reconfigurability is strong and degree of modularity advantages of higher. It is capable of the five-axle linkage to complicated elongated integral structure component to process.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the present invention.
Fig. 2 is the structural representation of the processing module in parallel in the machine tool structure shown in Fig. 1.
Fig. 3 is the structural representation of the first side chain in the processing module in parallel shown in Fig. 2.
Fig. 4 is the structural representation of the second side chain in the processing module in parallel shown in Fig. 2.
In figure: 1, long straight guide, 2, processing module in parallel, 21, basic platform, 22, moving platform, 23, cutter, the 24, first side chain, 241, upper connecting rod, 242, lower link, 243, upper connecting rod, 244, lower link, 245, upper connecting rod, 246, lower link, 247, connecting platform, the 25, second side chain, 251, upper connecting rod, 252, link, 253, lower link, 3, fixture, 4, workbench, 5, example workpiece.
Detailed description of the invention
In conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
Such as Fig. 1 ~ Fig. 4, a kind of big swing angle planer-type five-axle linkage series-parallel machine tool includes: along parts such as the long straight guide 1 of Y direction, processing module 2 in parallel, fixture 3, workbench 4 and example workpiece 5; Processing module 2 in parallel includes basic platform 21, moving platform 22, cutter 23 and connects first side chain the 24, second side chain 25 between basic platform 21 and moving platform 22, and each several part forms a Spatial Parallel close loop mechanism; Described processing module in parallel 2 realizes its moving platform 22 bidimensional in XZ plane by four input drivings and moves and rotating shaft rotation of the bidimensional in plane on moving platform 22, processing module 2 in parallel is arranged on along the long straight guide 1 of Y direction, and make processing module 2 in parallel slidably input driving along Y direction Y direction interpolation one, so that the moving platform 22 of processing module 2 in parallel can realize five-axle linkage campaign.
As shown in Figure 2,3, for (3-RPR)-R type series parallel movement side chain, (P represents moving sets to first side chain 24 of described processing module in parallel 2, R represents revolute pair), it includes the revolute pair R between plane-parallel type close loop mechanism 3-RPR and connecting platform 247 and moving platform 22, and this plane-parallel type close loop mechanism can realize connecting platform 247 and move and connecting platform 247 axis one-dimensional rotation along Y direction at the bidimensional of XZ plane, plane-parallel type close loop mechanism 3-RPR includes: basic platform 21, upper connecting rod I241, lower link I242, upper connecting rod II243, lower link II244, upper connecting rod III245, lower link III246, connecting platform 247 and each kinematic pair, described kinematic pair includes: connect the revolute pair R between basic platform 21 and upper connecting rod I241, moving sets P between connecting rod I241 and lower link I242 in connection, connect the revolute pair R between lower link I242 and connecting platform 247, connect the revolute pair R between basic platform 21 and upper connecting rod II243, moving sets P between connecting rod II243 and lower link II244 in connection, connect the revolute pair R between lower link II244 and connecting platform 247, connect the revolute pair R between basic platform 21 and upper connecting rod III245, moving sets P between connecting rod III245 and lower link III246 in connection, connect the revolute pair R between lower link III246 and connecting platform 247, the axis of all revolute pair R of plane-parallel type close loop mechanism be parallel to each other and and connecting platform 247 and moving platform 22 between the axis of revolute pair R be mutually perpendicular to, wherein connect upper moving sets P between connecting rod I241 with lower link I242, the moving sets P being connected between connecting rod II243 with lower link II244, the moving sets P that is connected between connecting rod III245 and lower link III246 input actuation movement pair.
As shown in Figure 4, for UPS type movement branched chain, (U represents Hooke's hinge to second side chain 25 of described processing module 2 in parallel, S represents ball pivot) RRPS type movement branched chain can also be regarded as, two of which revolute pair R axis is mutually perpendicular to, this side chain 25 includes: upper connecting rod IV251, link 252, lower link IV253 and each kinematic pair, described kinematic pair includes: connect the revolute pair R between basic platform 21 and link 252, connect the revolute pair R between link 252 and upper connecting rod IV251, moving sets P between connecting rod IV251 and lower link IV253 in connection, connect the typed ball bearing pair S between lower link IV253 and moving platform 22, wherein connecting upper moving sets P between connecting rod IV251 and lower link IV253 is that input actuation movement is secondary.
As it is shown in figure 1, be connected on long straight guide 1 by the moving sets P between basic platform 21 with long straight guide 1 by processing module 2 in parallel, this moving sets P is that input actuation movement is secondary, it is achieved that the Y-axis of processing module 2 in parallel moves.
As shown in Figure 2, in processing module 2 first side chain 24 in parallel, revolute pair R center between basic platform 21 and upper connecting rod I241 is unequal to the distance at the revolute pair R center between basic platform 21 and upper connecting rod II243 to the revolute pair R center between the distance and basic platform 21 and upper connecting rod III245 at the revolute pair R center between basic platform 21 and upper connecting rod II243, and this is to overcome a unusual bit-type. Second side chain 25 connects the axis coaxle of the revolute pair R being connected between basic platform 21 and upper connecting rod II243 in the axis of the revolute pair R between basic platform 21 and link 252 and the first side chain 24.
Claims (6)
1. a big swing angle planer-type five-axle linkage series-parallel machine tool, it is characterised in that including: long straight guide, processing module in parallel, fixture and the workbench arranged along Y direction; Described processing module in parallel includes basic platform, moving platform, cutter and connects the first side chain between basic platform and moving platform, the second side chain, and each several part forms a Spatial Parallel close loop mechanism; Described processing module in parallel is driven by four inputs and realizes moving platform bidimensional in XZ plane and move and bidimensional in moving platform rotating shaft plane thereon rotates, processing module in parallel is arranged on along the long straight guide of Y direction setting, and it is added with an input driving making processing module in parallel slide along Y direction in Y direction, make the moving platform of processing module in parallel realize five-axle linkage campaign.
2. big swing angle planer-type five-axle linkage series-parallel machine tool according to claim 1, it is characterized in that: the first side chain of described processing module in parallel is (3-RPR)-R type series parallel movement side chain, P represents moving sets, R represents revolute pair, first side chain includes plane-parallel type close loop mechanism 3-RPR, and plane-parallel type close loop mechanism 3-RPR includes: basic platform, upper connecting rod I, lower link I, upper connecting rod II, lower link II, upper connecting rod III, lower link III, connecting platform and each kinematic pair, described kinematic pair includes: connect the revolute pair R between basic platform and upper connecting rod I, moving sets P between connecting rod I and lower link I in connection, connect the revolute pair R between lower link I and connecting platform, connect the revolute pair R between basic platform and upper connecting rod II, moving sets P between connecting rod II and lower link II in connection, connect the revolute pair R between lower link II and connecting platform, connect the revolute pair R between basic platform and upper connecting rod III, moving sets P between connecting rod III and lower link III in connection, connect the revolute pair R between lower link III and connecting platform, first side chain also includes the revolute pair R between connecting platform and moving platform, the axis of all revolute pair R of plane-parallel type close loop mechanism be parallel to each other and and connecting platform and moving platform between the axis of revolute pair R be mutually perpendicular to, wherein connect upper moving sets P between connecting rod I with lower link I, the moving sets P being connected between connecting rod II with lower link II, the moving sets P that is connected between connecting rod III and lower link III input actuation movement pair, and plane-parallel type close loop mechanism realizes connecting platform and moves and the connecting platform axis one-dimensional rotation along Y direction at the bidimensional of XZ plane.
3. big swing angle planer-type five-axle linkage series-parallel machine tool as claimed in claim 1, it is characterized in that: the second side chain of described processing module in parallel is RRPS type movement branched chain, S represents ball pivot, second side chain includes: upper connecting rod IV, link, lower link IV and each kinematic pair, and described kinematic pair includes: connects revolute pair R, the revolute pair R being connected between link with upper connecting rod IV, the moving sets P being connected between connecting rod IV with lower link IV between basic platform and link and is connected the typed ball bearing pair S between lower link IV and moving platform; In connection, the moving sets P between connecting rod IV and lower link IV is that input actuation movement is secondary, connecting the revolute pair R between basic platform and link and the revolute pair R axis being connected between link and upper connecting rod IV is mutually perpendicular to, two revolute pair R can use Hooke's hinge U to replace.
4. the big swing angle planer-type five-axle linkage series-parallel machine tool as described in claim 1 or 2 or 3, it is characterised in that: the second described side chain connects the axis coaxle of the revolute pair R being connected between basic platform and upper connecting rod II in the axis of the revolute pair R between basic platform and link and the first side chain.
5. big swing angle planer-type five-axle linkage series-parallel machine tool as claimed in claim 4, it is characterized in that: described is connected on long straight guide by the moving sets P between basic platform with long straight guide by processing module in parallel, this moving sets P is that input actuation movement is secondary, it is achieved that the Y-axis of processing module in parallel moves.
6. big swing angle planer-type five-axle linkage series-parallel machine tool as claimed in claim 5, it is characterized in that: in described processing module in parallel first side chain, the revolute pair R center between basic platform and upper connecting rod I is unequal to the distance at the revolute pair R center between basic platform and upper connecting rod II to the revolute pair R center between the distance and basic platform and upper connecting rod III at the revolute pair R center between basic platform and upper connecting rod II.
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| CN201610169598.6A CN105666468B (en) | 2016-03-23 | 2016-03-23 | A kind of big swing angle planer-type five-axle linkage series-parallel machine tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107825417A (en) * | 2017-09-21 | 2018-03-23 | 燕山大学 | A kind of five axle series-parallel robots being made up of four-freedom hybrid mechanism |
| CN108000538A (en) * | 2016-06-28 | 2018-05-08 | 王祁 | A kind of full-automation underground railway track polishing cleaning manipulator |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN112276910A (en) * | 2020-10-29 | 2021-01-29 | 中国民航大学 | Parallel mechanism containing double-sliding-rail composite branched chain |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
| CN117444943A (en) * | 2023-12-26 | 2024-01-26 | 济南二机床集团有限公司 | Series-parallel manipulator and manipulator track planning method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000538A (en) * | 2016-06-28 | 2018-05-08 | 王祁 | A kind of full-automation underground railway track polishing cleaning manipulator |
| CN107825417A (en) * | 2017-09-21 | 2018-03-23 | 燕山大学 | A kind of five axle series-parallel robots being made up of four-freedom hybrid mechanism |
| CN107825417B (en) * | 2017-09-21 | 2020-05-29 | 燕山大学 | Five-axis series-parallel robot composed of four-degree-of-freedom series-parallel mechanism |
| CN108161490A (en) * | 2017-12-27 | 2018-06-15 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN108340353A (en) * | 2018-03-12 | 2018-07-31 | 武汉理工大学 | A kind of imitative wrist joint submissive milling robot in parallel |
| CN112276910A (en) * | 2020-10-29 | 2021-01-29 | 中国民航大学 | Parallel mechanism containing double-sliding-rail composite branched chain |
| CN112276910B (en) * | 2020-10-29 | 2022-03-18 | 中国民航大学 | Parallel mechanism containing double-sliding-rail composite branched chain |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
| CN117444943A (en) * | 2023-12-26 | 2024-01-26 | 济南二机床集团有限公司 | Series-parallel manipulator and manipulator track planning method |
| CN117444943B (en) * | 2023-12-26 | 2024-03-22 | 济南二机床集团有限公司 | Series-parallel manipulator and manipulator track planning method |
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| CN105666468B (en) | 2018-05-18 |
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